#ifndef __MOTO_H
#define  __MOTO_H

typedef struct{
	float balance_KP;
	float balance_KI;
	float balance_KD;
	
	float velocity_KP;
	float velocity_KI;
	float velocity_KD;
	
	float turn_KP;
	float turn_KI;
	float turn_KD;

}PID;

void Get_Encoder_Counter(int *moto_1,int *moto_2);
void Give_Motor_PWM(int moto_1_pwm,int moto_2_pwm);
int ABS(int a);
void Limit(int *PWM1,int *PWM2);
int Up_balance(float Angle,float Gyro,float Mechanical_Angle);
int Velocity(int Encoder_1,int Encoder_2,int Mechanical_velocity);
int Turn(int turn_target);
#endif
